version: 66.04
glider: 16
mission: 13
dive: 137
start: 7 1 109 0 45 0
data:
$ID,16
$MISSION,13
$DIVE,137
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,440
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2110018.8
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3321
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,196
$ROLL_MAX,3869
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.343216
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,002736,6357.271,-1333.270,37,1.4,37,-12.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-65.4
$GPS2,004443,6357.249,-1333.338,10,1.0,15,-12.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.081,-0.225
$KALMAN_X,-87037.4,1552.8,520.3,38953.3,-1645.0
$KALMAN_Y,197075.5,-3550.9,-2288.7,-114382.5,45486.2
$MHEAD_RNG_PITCHd_Wd,40.7,5771,-15.7,-7.500
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.11,-119.2,0.0,0.0,0,79,0.00,0.00,-60.97,0.000,2,0.000,0.000,74,2605,3160
$GC,82,-1.11,-125.0,4.5,-7.3,3,105,11.75,2.33,-3.08,0.000,4,0.181,0.076,2109,3861,3330
$GC,230,-1.04,-125.0,29.7,-12.0,9,235,0.12,2.17,0.00,0.000,6,0.113,0.027,2132,2573,3330
$GC,552,-1.04,-125.0,60.4,-8.8,25,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2572,3331
$GC,860,-1.04,-125.0,88.6,-9.0,40,865,0.00,2.38,0.00,0.000,4,0.000,0.062,2132,3856,3331
$GC,910,-1.04,-125.0,93.6,-10.8,42,914,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2595,3331
$GC,1232,-1.04,-125.0,123.5,-9.8,58,1236,0.00,2.42,0.00,0.000,4,0.000,0.040,2132,1216,3332
$GC,1282,-1.11,-125.0,128.6,-10.3,60,1287,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2596,3332
$GC,1598,-1.11,-125.0,159.1,-9.3,75,1602,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1214,3332
$GC,1626,-1.17,-125.0,161.8,-9.4,76,1631,0.12,2.45,0.00,0.000,6,0.046,0.035,2093,2608,3331
$GC,1947,-1.10,-125.0,195.3,-10.1,92,1949,0.15,0.00,0.00,0.000,6,0.101,0.000,2121,2608,3331
$GC,2256,-1.10,-125.0,222.0,-8.8,107,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2608,3332
$GC,2566,-1.10,-125.0,249.1,-8.9,122,2570,0.00,2.45,0.00,0.000,4,0.000,0.038,2121,1211,3332
$GC,2650,-1.15,-125.0,257.0,-8.7,125,2656,0.00,2.45,0.00,0.000,6,0.000,0.036,2121,2606,3331
$GC,2966,-1.15,-125.0,286.6,-9.3,141,2970,0.00,2.33,0.00,0.000,4,0.000,0.066,2121,3861,3331
$GC,3044,-1.15,-125.0,293.4,-8.4,144,3050,0.00,2.12,0.00,0.000,6,0.000,0.026,2121,2596,3332
$GC,3359,-1.15,-125.0,317.1,-7.9,160,3364,0.00,2.42,0.00,0.000,4,0.000,0.040,2119,1215,3332
$GC,3445,-1.23,-125.0,324.1,-7.8,164,3450,0.12,2.42,0.00,0.000,6,0.049,0.037,2082,2599,3332
$GC,3773,-1.14,-125.0,368.4,-16.7,180,3778,0.15,2.35,0.00,0.000,4,0.100,0.067,2110,3862,3331
$GC,3857,-1.14,-125.0,381.3,-12.9,184,3861,0.00,2.12,0.00,0.000,6,0.000,0.028,2110,2602,3330
$GC,4191,-1.14,-125.0,400.9,-11.0,200,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2600,3331
$GC,4500,-1.11,-146.6,432.9,-2.6,215,4504,0.00,2.35,0.00,0.000,4,0.000,0.068,2110,3863,3330
$GC,4586,-1.04,-146.6,436.7,-4.5,219,4590,0.12,2.17,0.00,0.000,6,0.128,0.035,2131,2609,3329
$GC,4915,-1.13,-146.6,456.6,-5.0,235,4919,0.00,2.35,0.00,0.000,4,0.000,0.074,2131,3855,3329
$GC,5145,-1.21,-146.6,477.8,-5.9,245,5150,0.17,2.17,0.00,0.000,6,0.044,0.030,2082,2582,3327
$GC,5461,-1.14,-146.6,508.0,-11.0,260,5463,0.15,0.00,0.00,0.000,6,0.104,0.000,2110,2582,3327
$GC,5770,-1.14,-146.6,538.4,-10.8,275,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2582,3327
$GC,6079,-1.14,-146.6,572.6,-12.4,290,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2582,3327
$GC,6389,-1.14,-146.6,610.6,-13.7,305,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2581,3325
$GC,6698,-1.14,-146.6,641.5,-8.9,320,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2580,3324
$GC,7007,-1.14,-146.6,663.4,-3.7,335,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2580,3324
$GC,7317,-1.35,-146.6,671.9,-0.0,350,7319,0.20,0.00,0.00,0.000,6,0.047,0.000,2058,2580,3323
$STATE,7417,end dive,NO_VERTICAL_VELOCITY
$STATE,7417,begin apogee
$GC,7424,-0.31,0.0,671.9,0.0,355,7540,1.15,0.00,109.60,1.046,6,0.099,0.000,2291,2303,2816
$STATE,7541,end apogee,CONTROL_FINISHED_OK
$STATE,7541,begin climb
$GC,7544,1.14,146.6,671.3,0.0,361,7683,1.42,2.70,130.68,1.029,4,0.052,0.067,2609,3700,2218
$GC,7940,1.01,146.6,652.3,8.5,378,7945,0.15,2.47,0.00,0.000,6,0.119,0.032,2584,2298,2212
$GC,8262,0.92,146.6,630.3,8.6,394,8267,0.12,2.65,0.00,0.000,4,0.122,0.066,2562,3704,2209
$GC,8447,0.84,146.6,609.9,7.9,402,8451,0.00,2.47,0.00,0.000,6,0.000,0.032,2562,2298,2209
$GC,8763,0.84,150.9,584.1,7.3,417,8767,0.00,2.55,0.00,0.000,4,0.000,0.054,2561,898,2207
$GC,8840,0.84,150.9,577.9,7.7,420,8847,0.00,2.47,0.00,0.000,6,0.000,0.038,2562,2302,2206
$GC,9157,0.88,180.0,552.1,6.3,436,9188,0.00,0.00,29.27,0.947,6,0.000,0.000,2562,2302,2082
$GC,9486,0.88,180.0,528.8,8.0,452,9490,0.00,2.55,0.00,0.000,4,0.000,0.051,2562,896,2077
$GC,9536,0.88,180.0,523.5,11.4,454,9541,0.00,2.50,0.00,0.000,6,0.000,0.038,2562,2307,2076
$GC,9852,0.88,180.0,484.7,10.1,469,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2307,2076
$GC,10162,0.91,212.0,461.1,6.2,484,10196,0.00,2.70,28.88,0.898,4,0.000,0.064,2561,3698,1952
$GC,10231,0.92,219.8,456.9,7.2,487,10248,0.00,2.47,8.93,0.787,6,0.000,0.031,2561,2297,1919
$GC,10558,1.03,272.3,434.6,5.3,503,10613,0.10,2.65,48.00,0.897,4,0.059,0.052,2591,898,1704
$GC,10653,1.03,272.3,428.2,8.5,507,10657,0.00,2.50,0.00,0.000,6,0.000,0.037,2591,2306,1701
$GC,10968,1.03,272.3,404.0,7.6,522,10972,0.00,2.60,0.00,0.000,4,0.000,0.064,2591,3701,1697
$GC,11001,1.03,272.3,400.7,9.9,523,11007,0.00,2.45,0.00,0.000,6,0.000,0.031,2591,2301,1697
$GC,11317,1.03,272.3,368.3,10.4,539,11321,0.00,2.55,0.00,0.000,4,0.000,0.049,2591,893,1695
$GC,11349,1.03,272.3,364.3,12.3,540,11356,0.00,2.47,0.00,0.000,6,0.000,0.035,2591,2301,1694
$GC,11665,1.03,272.3,331.3,9.5,556,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2302,1694
$GC,11974,1.03,272.3,302.3,9.3,571,11979,0.00,2.58,0.00,0.000,4,0.000,0.060,2590,3702,1694
$GC,12014,1.03,272.3,298.1,10.5,573,12018,0.00,2.42,0.00,0.000,6,0.000,0.029,2590,2297,1693
$GC,12347,1.07,272.3,265.3,9.8,589,12351,0.00,2.53,0.00,0.000,4,0.000,0.047,2590,890,1693
$GC,12387,1.14,272.3,261.1,10.2,591,12392,0.00,2.47,0.00,0.000,6,0.000,0.034,2591,2306,1692
$GC,12714,1.19,272.3,224.6,11.2,607,12716,0.12,0.00,0.00,0.000,6,0.050,0.000,2629,2307,1693
$GC,13024,1.19,272.3,182.3,14.0,622,13028,0.00,2.53,0.00,0.000,4,0.000,0.044,2629,893,1693
$GC,13079,1.19,272.3,174.4,14.6,624,13085,0.00,2.45,0.00,0.000,6,0.000,0.033,2628,2301,1693
$GC,13395,1.13,272.3,132.2,13.2,640,13397,0.12,0.00,0.00,0.000,6,0.097,0.000,2605,2301,1693
$GC,13706,1.13,272.3,95.5,11.3,655,13710,0.00,2.53,0.00,0.000,4,0.000,0.044,2605,890,1693
$GC,13750,1.13,272.3,90.0,11.8,657,13754,0.00,2.47,0.00,0.000,6,0.000,0.033,2605,2308,1693
$GC,14071,1.13,272.3,54.0,11.3,673,14075,0.00,2.58,0.00,0.000,4,0.000,0.058,2605,3710,1694
$GC,14135,1.13,272.3,46.3,12.9,676,14139,0.00,2.45,0.00,0.000,6,0.000,0.028,2606,2290,1695
$GC,14462,1.13,272.3,11.4,10.0,692,14466,0.00,2.60,0.00,0.000,4,0.000,0.055,2605,3705,1695
$GC,14483,1.13,272.3,8.9,10.9,693,14487,0.00,2.42,0.00,0.000,6,0.000,0.028,2605,2297,1695
$STATE,14554,end climb,SURFACE_DEPTH_REACHED
$STATE,14554,begin surface coast
$FINISH,0.7,1.012895
$STATE,14576,end surface coast,CONTROL_FINISHED_OK
$STATE,14576,begin surface
$SM_CCo,14659,0.00,0.000,0,0,1691,276.21
$SM_GC,1.83,12.02,0.00,0.00,0.085,0.000,0.000,72,2605,1691,-10.46,0.14,276.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1741
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,23.6,24.910
$10V_AH,10.1,12.343
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.300,118.225,355.350,0.000,0.000,90.195,146.831,412.058,5.750,0.000,0.000,15.909,1323.129,11347.225,452.823,1647.537,915.319,0.000,1283.389,0.000,1601.404,0.000,42.158,0.000
$DEVICE_MAMPS,181.012,75.933,1046.188,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,510.339,475.585,425.928,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34738,698
$CAP_FILE_SIZE,121085,0
$CFSIZE,260165632,250576896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010709,045036,6358.352,-1330.042,35,0.8,41,-12.7